Orlando Francois Gonzales Palacios, Selim Haj Salah
{"title":"Mapping marsian caves in 2D with a small exploratory robot","authors":"Orlando Francois Gonzales Palacios, Selim Haj Salah","doi":"10.1109/INTERCON.2017.8079721","DOIUrl":null,"url":null,"abstract":"The caves in Mars are a safe habitat for a colony of human explorers and provide valuable information for the scientists. Unfortunately, the interiors of these caves are not known enough, but nowadays investigators have proposed to send Multi-robot teams for exploration of this subsurface. This article supports this initiative developing exploratory robots specialized in mapping. We worked with the hardware Rasperry-Pi 3, DFRduino Romeo and RPLidarA1 in addition, and with the softwares Matlab, Hector_SLAM-ROS, Ubuntu 14.04. There was information obtained from the sensor which is processed by ROS and that information was exported in a file. dat to smooth the map 2D in Matlab.","PeriodicalId":229086,"journal":{"name":"2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INTERCON.2017.8079721","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The caves in Mars are a safe habitat for a colony of human explorers and provide valuable information for the scientists. Unfortunately, the interiors of these caves are not known enough, but nowadays investigators have proposed to send Multi-robot teams for exploration of this subsurface. This article supports this initiative developing exploratory robots specialized in mapping. We worked with the hardware Rasperry-Pi 3, DFRduino Romeo and RPLidarA1 in addition, and with the softwares Matlab, Hector_SLAM-ROS, Ubuntu 14.04. There was information obtained from the sensor which is processed by ROS and that information was exported in a file. dat to smooth the map 2D in Matlab.
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